Planning for Autonomous Aerial Vehicles

The goal of this project is to enable unmanned aerial vehicle to operate fully autonomously in near-earth spaces such as urban environments and sparse forests. Robust planning is challenging because it needs to occur in a relatively high-dimensional space in order to generate dynamically feasible trajectories, it needs to be fast in order to allow for fast flying, and it needs to account for massive uncertainty due to noisy perception and inaccurate localization.